Bearing-only Based Circumnavigation for Multi-agent System of Moving-target on Fully-actually System Approach

This article investigates the problem of circumnavigation of multi-agent system with a second-order integrator dynamic model, and drive agents enclose around a moving target with desired speed and orbit radius. Unlike the mostly nowaday researches, this article promotes a second-order control law rather than first-order to directly control the agents' accelerated velocity. A fully-actuated system approach is applied to simplify the nonlinear matters, and a rigorous proof is given for the validity of the control law. Finally the simulation is then performed to verify the feasibility of the proposed method.